Hybrid Bronchoscope Tracking Using a Magnetic Tracking Sensor and Image Registration
Hybrid Bronchoscope Tracking Using a Magnetic Tracking Sensor and Image Registration
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DOI：
10.1007/11566489_67
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发表时间：
2005-10
期刊：
影响因子：
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通讯作者：
K. Mori;Daisuke Deguchi;Kenta Akiyama;T. Kitasaka;C. Maurer;Y. Suenaga;H. Takabatake;M. Mori;H. Natori
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文献类型：
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作者：
K. Mori;Daisuke Deguchi;Kenta Akiyama;T. Kitasaka;C. Maurer;Y. Suenaga;H. Takabatake;M. Mori;H. Natori
在本文中，我们提出了一种混合的方法来跟踪支气管镜，使用磁传感器跟踪和图像配准的组合。放置在支气管镜的工作通道中的磁传感器的位置由磁跟踪系统提供。由于呼吸运动，磁传感器仅提供支气管镜在检查之前采集的CT图像的坐标系中的近似位置和取向。传感器位置和取向被用作真实的支气管镜视频图像与从CT图像生成的虚拟支气管镜图像之间的基于强度的配准的起点。图像配准过程的输出变换是支气管镜在CT图像中的位置和取向。我们测试了所提出的方法使用支气管模型。生成虚拟呼吸运动来模拟呼吸运动。所提出的混合方法以约1 Hz的速率成功跟踪支气管镜。
In this paper, we propose a hybrid method for tracking a bronchoscope that uses a combination of magnetic sensor tracking and image registration. The position of a magnetic sensor placed in the working channel of the bronchoscope is provided by a magnetic tracking system. Because of respiratory motion, the magnetic sensor provides only the approximate position and orientation of the bronchoscope in the coordinate system of a CT image acquired before the examination. The sensor position and orientation is used as the starting point for an intensity-based registration between real bronchoscopic video images and virtual bronchoscopic images generated from the CT image. The output transformation of the image registration process is the position and orientation of the bronchoscope in the CT image. We tested the proposed method using a bronchial phantom model. Virtual breathing motion was generated to simulate respiratory motion. The proposed hybrid method successfully tracked the bronchoscope at a rate of approximately 1 Hz.